The JAviator Project Rainer Trummer Computer Sciences Workshop '06 Department of Computer Sciences University of Salzburg, Austria

Collaborative research project of the Introduction Collaborative research project of the Computational Systems Group, Department of Computer Sciences, University of Salzburg IBM T. J. Watson Research Center, Hawthorne, New York, USA Primary project goals are to develop high-level real-time and concurrent programming abstractions for Java provide an infrastructure that is time-portable verify the system on an unmanned aerial vehicle

The JAviator (Java Aviator) Self-made 4-rotor model helicopter build of high-quality materials like carbon fiber, aluminium, and titanium equipped with custom-made 3-phase motors Technical data: 1100 mm total diameter 1600 g total weight 4000 g maximum thrust 1500 g maximum payload 20 min average flight time

Basic Components

Machined Components

3-Phase AC Motors Technical data: 30 mm diameter 30 mm height 250 W max power (17 A at 15 V DC)

Rotor Design

JAviator Rotor

Fuselage Design

JAviator Top View

Stub Frame Design

JAviator Side View

Control System Design Requirements: 4 independent controllers to stabilize roll, pitch, yaw, and altitude Controller period in the range of milliseconds Hard real-time software Reliable remote connection between JAviator and ground station Sufficient computing power for autonomous flight Onboard navigation Trajectory control Obstacle recognition

Embedded System

Robostix Timing

Gumstix Timing

Control Software Design Atmega-based C software Time-triggered sensing and actuating Fully deterministic controller behavior Exotask-based Java software Real-time software infrastructure Each exotask has its own memory space Each exotask has its own garbage collector Exotask system provides time-portability No change of original Java semantics

Embedded Software

Software Hierarchy

First All-Java Flight Oct 4, 2006: Spontaneous software test System fully operational First Java-based flight!

IBM Demo Session Oct 5, 2006: Official demo flights with IBM Real-time tracing of entire system

Hardware: JAviator version 2 Work In Progress Hardware: JAviator version 2 Larger body to carry additional electronics CNC-machined aluminium connectors 3-dimensional laser positioning mechanics Software: Trajectory controller Full roll, pitch, yaw, and altitude control Acquisition of GPS and obstacle data Fully autonomous navigation and control

Thank You!